Singapore

Modern AI services must continually adapt to newly joined domains, yet delivering high-quality customized models is hampered by label sparsity, domain shifts, and tight budgets. We formulate this challenge as the learning system expansion problem and introduce HaT, an efficient heterogeneity-aware knowledge-transfer framework. HaT first selects a small set of high-quality source models with minimal overhead, and then fuses their imperfect predictions through a sample-wise attention mixer. Later, it adaptively distills the fused knowledge into target models via a knowledge dictionary. Extensive experiments on different tasks and modalities show that HaT outperforms state-of-the-art baselines by up to 16.5\% accuracy, and saves 31.1\% training time and up to 93.0\% traffic.

AAAI 2026

Learning Systems Expansion with Efficient Heterogeneity-aware Knowledge Transfer

learning system expansion

knowledge transfer

knowledge distillation

[![](https://assets.underline.io/markdown_image/1/image/f25361a85b7c83a7476c0b3c1c0bb1b2.png)](https://drive.google.com/file/d/18jcAcciCBQHj6R07Dbpm2HCOBEIwAOCU/view?usp=sharing)


Dear Colleagues and Friends,

The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, was held at Pasadena Convention Center in Pasadena, USA.

The theme of the IEEE RO-MAN 2024 was **“Embracing Human-Centered HRI”**.

With the continuous technological effort of understanding human needs, creating human-desired robotic systems, and developing real human user experiences, we are marching together towards building a promising and excellent human quality of life, all for our wellness and our next generation.

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IEEE RO-MAN 2024

The 33rd IEEE International Conference on Robot and Human Interactive Communication was held in Pasadena, California, USA. The theme of the IEEE RO-MAN 2024 was “Embracing Human-Centered HRI”.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-26 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

Promptable segmentation models such as SAM have established a powerful paradigm, enabling strong generalization to unseen objects and domains with minimal user input, including points, bounding boxes, and text prompts. Among these, bounding boxes stand out as particularly effective, often outperforming points while significantly reducing annotation costs. However, current training and evaluation protocols typically rely on synthetic prompts generated through simple heuristics, offering limited insight into real-world robustness. In this paper, we investigate the robustness of promptable segmentation models to natural variations in bounding box prompts. First, we conduct a controlled user study and collect thousands of real bounding box annotations. Our analysis reveals substantial variability in segmentation quality across users for the same model and instance, indicating that SAM-like models are highly sensitive to natural prompt noise. Then, since exhaustive testing of all possible user inputs is computationally prohibitive, we reformulate robustness evaluation as a white-box optimization problem over the bounding box prompt space. We introduce BREPS, a method for generating adversarial bounding boxes that minimize or maximize segmentation error while adhering to naturalness constraints. Finally, we benchmark state-of-the-art models across 10 datasets, spanning everyday scenes to medical imaging. All code and data will be released upon publication.

BREPS: Bounding-Box Robustness Evaluation of Promptable Segmentation

Visual impairment is a common condition worldwide, and cortical electrical stimulation is one of the approaches to aid in visual restoration. However, existing methods suffer from limited precision, flexibility, and generalization in generating the desired visual perception. In this paper, we propose a novel deep learning-based algorithm for cortical electrical stimulation, named ``MindSight," aimed at enhancing the clarity and accuracy of induced visual perceptions. Our framework introduces three key innovations: (1) A differentiable biophysical model simulating cortical state transitions under electrical stimulation, enabling end-to-end training; (2) A dual-path training architecture combining neural decoding fidelity with phosphene simulation constraints; (3) An attention-guided background gated network for input filtration and, a multi-channel activation constraint to ensure the effectiveness of electrical stimulation. We validated our approach through novel experiments with macaque monkeys, demonstrating superior performance in visual perception tasks. These results highlight the potential of our approach in assisting individuals with visual impairments.

MindSight: A Bio-Inspired Neural Architecture for Visual Restoration via Cortical Electrical Stimulation

Retrieval-Augmented Generation (RAG) has revolutionized Large Language Models' ability to access external knowledge, but current graph-based RAG approaches face critical limitations in managing hierarchical knowledge: they impose rigid compression quotas per layer that damage local graph structures, and they focus primarily on topological structure while neglecting semantic coherence. We introduce T-Retriever, a novel framework that reformulates attributed graph retrieval as tree-based retrieval using a semantic and structure guided encoding tree. Our approach integrates two key innovations: (1) Adaptive Compression Encoding, which eliminates artificial layer-specific compression quotas in favor of a global optimization strategy that preserves the graph's natural hierarchical organization, and (2) Semantic-Structural Entropy (S²-Entropy), which jointly optimizes for both topological cohesion and semantic consistency when creating hierarchical partitions. Extensive experiments across diverse graph reasoning benchmarks demonstrate that T-Retriever significantly outperforms state-of-the-art RAG methods.

T-Retriever: Tree-based Hierarchical Retrieval Augmented Generation for Textual Graphs

The surrogate gradient (SG) method has shown significant promise in enhancing the performance of deep spiking neural networks (SNNs), but it also introduces vulnerabilities to adversarial attacks. Although spike coding strategies and neural dynamics parameters have been extensively studied for their impact on robustness, the critical role of gradient magnitude, which reflects the model's sensitivity to input perturbations, remains underexplored. In SNNs, the gradient magnitude is primarily determined by the interaction between the membrane potential distribution (MPD) and the SG function. In this study, we investigate the relationship between the MPD and SG and its implications for improving the robustness of SNNs. Our theoretical analysis reveals that reducing the proportion of membrane potential lying within the gradient-available range of the SG function effectively mitigates the sensitivity of SNNs to input perturbations. Building upon this insight, we propose a novel MPD-driven surrogate gradient regularization (MPD-SGR) method, which enhances robustness by explicitly regularizing the MPD based on its interaction with the SG function. Extensive experiments across multiple image classification benchmarks and diverse network architectures confirm that the MPD-SGR method significantly enhances the resilience of SNNs to adversarial perturbations and exhibits strong generalizability across diverse network configurations, SG function variants, and spike encoding schemes.

MPD-SGR: Robust Spiking Neural Networks with Membrane Potential Distribution-Driven Surrogate Gradient Regularization

Recent advances in transformer-based text-to-motion generation have significantly improved motion quality. However, achieving both real-time performance and long-horizon scalability remains an open challenge. In this paper, we present MOGO (Motion Generation with One-pass), a novel autoregressive framework for efficient and scalable 3D human motion generation. MOGO consists of two key components. First, we introduce MoSA-VQ, a motion scale-adaptive residual vector quantization module that hierarchically discretizes motion sequences through learnable scaling parameters, which dynamically regulate the information flow at each layer to produce compact yet expressive multi-level representations. Second, to fully utilize the high-quality motion representations, we further design the RQHC-Transformer, a residual quantized hierarchical causal transformer that structurally aligns with the multi-level latent hierarchy produced by MoSA-VQ. Each level is decoded by a dedicated transformer block, enabling efficient multi-scale generation in a single forward pass. Compared to diffusion-based and LLM-based approaches, it achieves lower inference latency while maintaining high motion quality. Notably, our hierarchical latent modeling—through the synergy of MoSA-VQ and RQHC-Transformer—empowers MOGO with seamless and coherent infinite-length generation. By iteratively extending motion from any given frame and allowing control signals to be updated at arbitrary points, the model produces stable transitions and responds adaptively to new conditions, enabling real-time, controllable long-horizon synthesis with strong temporal consistency. Extensive experiments on HumanML3D and KIT-ML validate the quality and efficiency of our approach, while evaluation on the unseen CMP dataset demonstrates strong zero-shot generalization capabilities.

MOGO: Residual Quantized Hierarchical Causal Transformer for Real-Time and Infinite-Length 3D Human Motion Generation

Multimodal Large Language Models (MLLMs) have demonstrated impressive progress in single-image grounding and general multi-image understanding. Recently, some methods begin to address multi-image grounding. However, they are constrained by single-target localization and limited types of practical tasks, due to the lack of unified modeling for generalized grounding tasks.
Therefore, we propose GeM-VG, an MLLM capable of Generalized Multi-image Visual Grounding.
To support this, we systematically categorize and organize existing multi-image grounding tasks according to cognitive demands and introduce the MG-Data-240K dataset, addressing the limitations of existing datasets regarding target quantity and image relation.
To tackle the challenges of robustly handling diverse multi-image grounding tasks, we further propose a hybrid reinforcement finetuning strategy that integrates chain-of-thought (CoT) reasoning and direct answering, considering their complementary strengths.
This strategy adopts an R1-like algorithm guided by a carefully designed rule-based reward, effectively enhancing the model’s overall perception and reasoning capabilities.
Extensive experiments demonstrate the superior generalized grounding capabilities of our model. For multi-image grounding, it outperforms the previous leading MLLMs by 2.0\% and 9.7\% on MIG-Bench and MC-Bench, respectively. In single-image grounding, it achieves a 9.1\% improvement over the base model on ODINW. Furthermore, our model retains strong capabilities in general multi-image understanding.

GeM-VG: Towards Generalized Multi-image Visual Grounding with Multimodal Large Language Models

A 3D point cloud completion task is to generate completed 3D objects given partial observations. Auto-encoder-based models suffer from poor generalization ability to untrained 3D data. Current diffusion-based models add isotropic noise with the same variance in three $x, y, z$ axes. More importantly, these models ignore real-world anisotropic evolution properties of 3D particles from a non-equilibrium state to thermodynamic equilibrium in the real physical world due to the velocity and energy thermodynamics of the particles, leading to unstable completions of 3D object topology. This paper presents a novel physically-based anisotropic 3D diffusion model (3DDM) to address these issues. We also present derivations of our proposed forward and reverse processes and a loss function in closed form, thus reproducibility. The 3DDM contains anisotropic energy-aware forward and reverse processes with a novel anisotropic quadratic loss function. The forward process adds anisotropic 3D Gaussian noises per-axis and mimics the thermal non-equilibrium evolution towards Maxwellian equilibrium based on velocity and kinetic energy evolutions of 3D particles in the real physical space. The reverse process learns to denoise along per-axis and per-timestep anisotropically. The anisotropic quadratic loss function penalizes errors along certain axes, yielding a highly flexible and anisotropic reverse diffusion process and a physically realistic generative model. The 3DDM denoises along $x, y, z$ axes with different velocities from the non-equilibrium evolution, achieving fewer than 20 diffusion steps and strong generalization to unseen 3D objects and real-world scenes that were not trained.

3DDM: Physically-based Anisotropic 3D Diffusion Model with 3D Gaussian for Point Cloud Completion

Feature coding has recently emerged as a key technique for efficient transmission of intermediate representations in distributed AI systems. 
Existing approaches largely follow a *transform-quantization-entropy coding* pipeline inherited from image and video coding, where the transform module is used to remove spatial structural redundancies in visual signals. 
However, our analysis indicates that such redundancies have already been removed during feature extraction, which reduces the necessity of the transform module. Building on this insight, we propose a new *vector quantization-entropy coding* pipeline that directly encodes the extracted features via a vector quantization module and an entropy model.
The proposed transform‑free framework jointly learns the quantization codebook and entropy model, enabling end‑to‑end optimization tailored to the inherent feature characteristics. Furthermore, the proposed method inherently avoids the computational complexity of the transform module. Experiments on features from diverse architectures and tasks demonstrate that our method achieves superior rate-distortion performance compared to transform-based baselines, while significantly reducing the encoding and decoding complexity.

Transform-Free Feature Coding via Entropy-Constrained Vector Quantization

Knowledge distillation (KD) is widely recognized as an effective approach for compressing large language models (LLMs). However, standard KD methods often falter when confronted with architectural or tokenization heterogeneity between teacher and student models, which creates a mismatch in their representations. While Optimal Transport (OT) provides a promising solution to align these representations, most OT-based methods rely on a single cost function, which isn’t enough to capture the multifaceted discrepancies between models with distinct designs. To address this limitation, we introduce Multi-Cost Wasserstein Knowledge Distillation (MCW-KD), a novel framework that enhances KD by simultaneously optimizing several cost functions within a unified OT formulation. MCW-KD employs specific cost matrices to effectively align both the final hidden states and the output distributions of the models. We also provide a rigorous theoretical foundation for the proposed Multi-Cost Wasserstein Distance, ensuring both mathematical validity and computational ability. Extensive experiments on instruction-following datasets demonstrate that MCW-KD significantly improves student model performance compared to state-of-the-art KD baselines, especially when teacher and student models have different tokenizers.

MCW-KD: Multi-Cost Wasserstein Knowledge Distillation for Large Language Models

Large language models (LLMs) exhibit diverse response behaviors, costs, and strengths, making it challenging to select the most suitable LLM for a given user query. We study the problem of adaptive multi-LLM selection in an online setting, where the learner interacts with users through multi-step query refinement and must choose LLMs sequentially without access to offline datasets or model internals. A key challenge arises from unstructured context evolution: the prompt dynamically changes in response to previous model outputs via a black-box process, which cannot be simulated, modeled, or learned. To address this, we propose the first contextual bandit framework for sequential LLM selection under unstructured prompt dynamics. We formalize a notion of myopic regret and develop a LinUCB-based algorithm that provably achieves sublinear regret without relying on future context prediction. We further introduce budget-aware and positionally-aware (favoring early-stage satisfaction) extensions to accommodate variable query costs and user preferences for early high-quality responses. Our algorithms are theoretically grounded and require no offline fine-tuning or dataset-specific training. Experiments on diverse benchmarks demonstrate that our methods outperform existing LLM routing strategies in both accuracy and cost-efficiency, validating the power of contextual bandits for real-time, adaptive LLM selection.

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